US8674638B2 - Determining initial rotor position of an alternating current motor - Google Patents

Determining initial rotor position of an alternating current motor Download PDF

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US8674638B2
US8674638B2 US13/139,893 US200913139893A US8674638B2 US 8674638 B2 US8674638 B2 US 8674638B2 US 200913139893 A US200913139893 A US 200913139893A US 8674638 B2 US8674638 B2 US 8674638B2
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rotor
angular position
signal vector
estimated
axis
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US20110248659A1 (en
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Peter Balazovic
Roman Filka
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Shenzhen Xinguodu Tech Co Ltd
NXP BV
NXP USA Inc
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Freescale Semiconductor Inc
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position
    • H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
    • H02P6/185—Circuit arrangements for detecting position without separate position detecting elements using inductance sensing, e.g. pulse excitation
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/18—Estimation of position or speed
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
    • H02P21/32—Determining the initial rotor position
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position
    • H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
    • H02P6/183—Circuit arrangements for detecting position without separate position detecting elements using an injected high frequency signal
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
    • H02P2203/11—Determination or estimation of the rotor position or other motor parameters based on the analysis of high-frequency signals

Definitions

  • This invention relates to determining the initial rotor position of an alternating current motor.
  • Alternating current (‘AC’) motor systems typically comprise a motor comprising a rotor and a stator and a motor controller for controlling the voltage and current supplied to drive the motor.
  • the motor controller needs to know the position of the motor rotor.
  • EMF induced back electromotive force
  • More complex techniques are based upon injection of appropriate high frequency (‘HF’) reference signals superimposed on the drive torque and flux control signals and the tracking of the response of the stator currents of the AC motor to the injected reference signal in order to determine the rotor position.
  • HF high frequency
  • the frequency of the injected signal is sufficiently higher than the fundamental frequency of the drive currents to be distinguishable from them and is limited by the impedance and reaction time characteristics of the controller.
  • the basis for most low and zero speed sensorless control techniques is the magnitude of a q-axis stator current at the injected signal frequency calculated in rotating direct (‘d-axis’) and quadrature (‘q-axis’) coordinates defined by a d-q reference frame rotating with the rotor, with the d-axis coinciding with the rotor magnetic axis, while the q-axis is perpendicular to the d-axis.
  • This q-axis stator current is generated by the effect of the rotor position on the stator inductance and is referred to as saliency.
  • saliency In a Permanent Magnet (PM) motor, for example, there are several sources of saliencies, such as rotor inherent saliency, saturation based saliency (stator, teeth).
  • JANUARY/FEBRUARY 2005 disclose methods of determining rotor position in which an HF carrier or pulse signal is injected into the stator windings by combining the HF signal with the command voltage signals that control the current provided to the stator of the AC motor to generate magnetic flux component (d-axis) and a torque component (q-axis).
  • the resulting HF components which carry the saliency position information and which are part of the feedback current from the stator, are then separated from the drive components of the stator current and processed by a processor in the motor controller to determine the rotor position.
  • the feedback current is also fed back as part of a control loop in the controller to control the power applied to the stator.
  • the present invention provides a method of controlling an alternating current motor, a computer programme for performing such a method, a controller for controlling an alternating current motor and motor apparatus including such a controller, as described in the accompanying claims.
  • FIG. 1 is a schematic block diagram of apparatus for controlling an alternating current motor in accordance with one embodiment of the invention, given by way of example,
  • FIG. 2 is a schematic block diagram of a module for determining the initial rotor position of an alternating current motor in the apparatus of FIG. 1 ,
  • FIG. 3 is a graph showing an estimation of the initial rotor position by the module of FIG. 2 as a function of the actual position of the rotor
  • FIG. 4 is a graph showing the variation of an estimation of the initial rotor position by the module of FIG. 2 as a function of time.
  • the present disclosure will be described with reference to a 3-phase Permanent Magnet Synchronous motor. It will be appreciated that the disclosure is not limited to use with a 3-phase Permanent Magnet Synchronous motor and may apply to any AC motor with saliency, for example 2-phase AC motors, wound-rotor AC motors, a permanent magnet motor with the permanent magnet buried in the motor or surface mounted, a Synchronous Reluctance Motor (SynRM), a Switched Reluctance Motor (SRM), or an AC Induction Motor (ACIM).
  • Synchronous Reluctance Motor SynRM
  • SRM Switched Reluctance Motor
  • ACIM AC Induction Motor
  • FIG. 1 shows a controller 100 in accordance with an embodiment of the present invention for an alternating current (‘AC’) salient electric motor 102 which has a rotor 104 and a stator 106 .
  • the controller of FIG. 1 calculates values in direct (‘D-axis’) and quadrature (‘Q-axis’) coordinates which rotate relative to the stator before transforming the values to ⁇ , ⁇ angular coordinates that are static relative to the stator and which in turn are then transformed to static three phase A, B, C components, which are applied to three-phase windings of the stator 106 in the case illustrated of a three-phase motor.
  • D-axis direct
  • Q-axis quadrature
  • the controller shown in FIG. 1 receives a current command signal vector i * dq calculated as a function of a required torque directly or indirectly depending on a desired speed or position of the rotor of the motor 102 , for example.
  • the current command signal vector i dg represents corresponding required flux and torque current components in the d-axis and q-axis.
  • the controller generates a voltage command signal vector u* dq , representing the required operating point for the d-axis and q-axis motor field and torque voltage components needed to obtain the required current components.
  • the voltage command signal vector u/* dq is generated by a comparator which receives the current command input signal vector i dg and a current feedback signal vector i dq — feedback , representing the actual values of the stator drive current components, the difference being fed as input to a control element 110 which may perform proportional-integral operations, possibly together with feed-forward operations, on the difference between the input and feedback signal vectors so as to generate the voltage command signal vector u* dq , the extreme values of the voltage command signal vector u* dq being limited in a limiter 112 , for example.
  • the voltage command signal vector u* dq is then subjected to an inverse Park transformation in a module 114 , which transforms the required voltage vector components in rotating d-q coordinates to a voltage command vector u* ⁇ in stationary two-phase ⁇ angular coordinates (DQ to ⁇ transformation), using an estimated angular position ⁇ e of the rotor 104 so that, if the angular position estimate is accurate, the reference frame of the angular coordinates rotates synchronously with the rotor.
  • a selection unit 116 produces a derived voltage command signal vector u* ⁇ 2 based on a value ⁇ d for the angular position ⁇ e used by the Park transformation element 114 during a drive phase of operation, once drive current has been applied to the stator windings 106 . However, during an initial phase of operation before the drive phase of operation, the selection unit 116 performs an initial calculation to establish an initial value ⁇ INIT for the angular position ⁇ e used by the Park transformation element 114 .
  • a combination element 117 receives the value ⁇ d during the drive phase and the initial value ⁇ INIT during the initial phase and provides the asserted value as output ⁇ e .
  • the value ⁇ d used for the angular position ⁇ e after drive current has been applied to the stator windings 106 is produced by a physical relative position sensor 118 , such as an incremental encoder or a tacho-generator, with a position and speed calculator 120 , for example, which would require at least one full mechanical rotation of the rotor (mechanical alignment) to register correctly the rotor position aligned with the magnetic flux of the rotor, which this embodiment of the present invention makes it possible to avoid.
  • the algorithm may start with an initial position determination provided by this embodiment of the present invention.
  • the selected voltage command signal vector u* ⁇ 2 is then applied to a Space Vector Modulation element 122 , which calculates duty-cycles for three phase A, B, C voltage components, which are applied to the three-phase windings of the stator 106 by pulse-width modulation of three switching legs of an inverter 124 supplied with power from the mains power supply.
  • Suitable techniques for Park (DQ to ⁇ ) transformation inverse transformation and for Space Vector Modulation are known and are referred to for example in U.S. Pat. No. 6,163,128.
  • a feedback path includes an analogue-to-digital converter (‘ADC’) 126 which converts the three phase stator current components i A , i B , i C to digital values.
  • a three-to-two phase current reconstruction element 128 calculates the equivalent signal vector i ⁇ in ⁇ stationary angular coordinates, which is supplied as input to the selection unit 116 .
  • a Park transformation module 130 transforms the ⁇ stationary angular coordinates to rotating d-q coordinates to produce the feedback current signal vector i dq — feedback , which is supplied as input to the comparator 108 .
  • the Park transformation module 130 is supplied with the same estimated angular position ⁇ e of the rotor 104 as the inverse Park transformation module 114 .
  • the comparator 108 , the control element 110 , the transformation module 114 and the selection unit 116 constitute a module for determination of an estimated angular position ⁇ e of said rotor and for production of drive torque and flux signals u* ⁇ in stationary coordinates as functions of command signals i* dq in rotating coordinates using the estimated angular position ⁇ e .
  • the current reconstruction element 128 may be constructed differently and, for example, i ⁇ can be reconstructed by single shunt measurement of DC bus current.
  • the motor is controlled by a method comprising determination of an estimated initial angular position ⁇ AXIS , ⁇ INIT of the rotor, and production of a drive signal vector u* ⁇ in stationary coordinates as a function of flux and torque components of a command signal vector i* dq in rotating coordinates using the estimated initial angular position ⁇ AXIS , ⁇ INIT .
  • the determination of an estimated initial angular position of the rotor includes production of a high frequency reference signal vector as a d-axis component u* d — HF in rotating coordinates, transformation of the d-axis component to produce a corresponding high frequency reference signal vector u* ⁇ — HF in stationary coordinates, application of voltages corresponding to the high frequency reference signal vector u* ⁇ — HF in stationary coordinates to the stator windings 106 of the motor, transformation of corresponding high frequency stator current signal vectors i A , i B , i C , i ⁇ in stationary coordinates to produce a corresponding q-axis stator current component i q — HF in rotating coordinates, production of an estimated initial angular position ⁇ AXIS , ⁇ INIT of the rotor as a function of the q-axis stator current component i q — HF , adjustment of the rotating coordinates using the estimated initial angular position ⁇ AXIS
  • the determination of an estimated initial angular position ⁇ AXIS , ⁇ INIT of the rotor and production of an adjusted estimated initial angular position ⁇ AXIS , ⁇ INIT of the rotor is performed with the rotor 104 at standstill and before initially applying voltage corresponding to the drive signal vector u* ⁇ to the stator windings 106 .
  • the production of an initial value of the drive signal vector u* ⁇ in stationary coordinates uses the adjusted estimated initial angular position.
  • FIG. 2 shows an example of the selection unit 116 in the controller 100 .
  • the selection unit 116 comprises an input element 202 , which receives a high frequency (‘HF’) reference signal ⁇ * HF t at a frequency ⁇ HF sufficiently high for the reactive part of the impedance of the stator windings seen by the HF reference signal to be substantially higher than the resistive part of the impedance, the reactive part being essentially inductive.
  • the frequency ⁇ HF is in the range of 500 Hz to 2000 Hz.
  • the input element 202 generates an in-phase component u* d — HF , the quadrature component being substantially 0, which is applied to an inverse Park transformation module 204 , similar to the inverse Park transformation module 114 .
  • the inverse Park transformation module 204 produces a signal vector u* ⁇ — HF , which is applied to a first input of a three input selector 206 controlled by a timer 208 .
  • the inverse Park transformation module 204 uses an initial estimated angular position ⁇ AXIS of the rotor 104 .
  • the output of the selector 206 is the signal vector u* ⁇ 2 , which is applied to the Space Vector Modulation element 122 , which calculates duty-cycles for three phase A, B, C voltage components that are applied by the inverter 124 to the three-phase windings of the stator 106 , producing corresponding currents in the stator windings 106 .
  • a Park transformation module 209 receives the signal vector i ⁇ from the current reconstruction element 128 and transforms the ⁇ stationary angular coordinates of the signal vector i ⁇ to rotating d-q coordinates using the initial estimated angular position ⁇ AXIS of the rotor 104 .
  • the quadrature component i q — HF is selected by homodyning the output of the element 209 with a quadrature component cos( ⁇ * HF t) of the HF reference signal ⁇ * HF in a mixer 210 and selecting the DC component in a low-pass filter 212 .
  • the output of the filter 212 is amplified in a buffer amplifier 214 and the output of the buffer amplifier 214 is the value ⁇ AXIS representing an initial position estimate of the rotor 104 , which is applied to the inverse Park transformation module 204 and the Park transformation module 209 .
  • a three input selector 216 controlled by the timer 208 has a first input that receives a default zero value and second and third inputs which receive the signal ⁇ AXIS .
  • the output of the selector 216 is applied to an input of a polarity detection unit 218 which detects the polarity of the permanent magnet.
  • the polarity detection unit 218 also receives the signal vector u* ⁇ — HF and provides a corresponding output signal vector u* ⁇ — HF — PM for which the North-South ambiguity in the rotor position is resolved, the output signal vector u* ⁇ — HF — PM being applied to a second input of the selector 206 .
  • An example of a suitable polarity detector that can be used in this embodiment of the present invention is given in US Patent specification 2004/0070362.
  • the third input of the selector 206 receives the voltage command signal vector u* ⁇ from the inverse Park transformation module 114 .
  • a three input selector 220 controlled by the timer 208 has first and second inputs that receive a default zero value.
  • the polarity detection unit 218 also provides the output ⁇ INIT corresponding to its input ⁇ AXIS but for which the North-South ambiguity in the rotor position is resolved and which is applied to a third input of the selector 220 .
  • the timer 208 In operation, during the initial phase of operation before drive current is applied to the stator windings 106 , in the absence of excitation of the windings and while the rotor is at standstill, the timer 208 initially sets the selectors 206 , 216 and 220 to conditions in which they pass the values at their first inputs to their outputs.
  • the initial estimated angular position value ⁇ AXIS used by the inverse Park transformation module 204 to produce the signal vector u* ⁇ — HF is equal to the default zero value.
  • the signal vector u* ⁇ 2 which is applied to the Space Vector Modulation element 122 corresponds to an initial assumption that the rotor angular position is zero.
  • the corresponding stator current signal vector i ⁇ is transformed to rotating d-q coordinates by the Park transformation module 209 , using the same zero default value of ⁇ AXIS , and the quadrature component i q — HF is to a first order proportional to a first estimate of the rotor position.
  • ⁇ err difference between the estimated value of ⁇ AXIS and the actual rotor position.
  • the value ⁇ AXIS after homodyning is then applied to the inverse Park transformation module 204 in a second iteration and the Park transformation module 209 and the more accurate transformations in the inverse Park transformation module 204 and the Park transformation module 209 produce a second, more accurate calculation of the value ⁇ AXIS .
  • FIG. 3 shows graphs of the value ⁇ AXIS and of the error in the value ⁇ AXIS as a function of actual position. It will be seen that a good approximation is obtained except for an ambiguity as to the polarity of the rotor position.
  • the timer 208 sets the selectors 206 , 216 and 220 to conditions in which they pass the values at their second inputs to their outputs and the timer 208 enables operation of the polarity detection unit 218 .
  • the selector 216 passes the value ⁇ AXIS to the polarity detection unit 218 , representing the second iteration estimate of the rotor position, and the polarity detection unit 218 corrects the polarity ambiguity and the selector 206 substitutes a corrected value of u* ⁇ — HF for the previous estimate.
  • the timer 208 times an interval of time sufficient for the feedback loop involving the corresponding stator current signal vector i ⁇ and calculation of the value ⁇ AXIS to stabilise, establishing the initial rotor position with polarity correction, and after this interval the timer 208 establishes the drive phase of the motor and sets the selectors 206 , 216 and 220 to conditions in which they pass the values at their third inputs to their outputs.
  • the selector 206 passes the command signal vector u* ⁇ as the output u* ⁇ 2 of the selection unit 116 .
  • the polarity detection unit 218 passes the value ⁇ AXIS from the selector 216 as the output ⁇ INIT .
  • ⁇ INIT is used as an offset to the value ⁇ d from the position and speed calculator 120 and the mechanical relative position sensor 118 , whereas in the case where a sensorless algorithm is used to estimate the rotor position, ⁇ INIT is used as a starting point for the value ⁇ d calculated by the algorithm.
  • the initial phase of estimation of rotor position before drive current is applied to the stator windings 106 , in the absence of excitation of the windings and while the rotor is at standstill, is performed without interference from any drive currents, giving an accurate estimate of initial rotor position without the need for resource-intensive filters.
  • the initial phase of estimation of rotor position is rapid, as illustrated by FIG. 4 , which shows a graph of the estimated value ⁇ AXIS of rotor position as a function of time for an actual rotor angular position of 25°. It will be seen therein that 1.5 msec can be sufficient to stabilise the initial estimate of rotor position.
  • the motor can then start immediately with stator field and torque drive current components at the correct phase angles for full torque as defined by the current command signal vector i* dq to be applied to the rotor 104 .
  • the q-axis component u* q — HF of the HF reference signal is zero, any unwanted torque generated during the initial rotor position calculation phase is insignificant.
  • the controller 100 of embodiments of the invention including the elements providing the outputs of the Space Vector Modulation element 122 and the elements exploiting the inputs from the ADC 126 and the position sensor 118 , for example, may be implemented by hardware but also may be implemented partially or wholly in a computer program. Accordingly, the representation of, and reference to, elements or units or modules will be understood to cover software elements or alternatively physical hardware elements, where the context admits.
  • the computer program may include code portions for performing steps of the method when run on a programmable apparatus, such as a computer system, or enabling a programmable apparatus to perform functions of a device or system according to embodiments of the invention.
  • the computer program may for instance include one or more of: a subroutine, a function, a procedure, an object method, an object implementation, an executable application, an applet, a serviette, a source code, an object code, a shared library/dynamic load library and/or other sequence of instructions designed for execution on a computer system.
  • the computer program may be provided on a data carrier, such as a CD-ROM or other storage device, containing data loadable in a memory of a computer system, the data representing the computer program or may be provided over a data connection, such as a telephone cable or a wireless connection.
  • a data carrier such as a CD-ROM or other storage device
  • connections may be any type of connection or link suitable to transfer signals or values from or to the respective nodes, units or devices, for example via intermediate devices. Accordingly, unless implied or stated otherwise the connections may for example be direct connections or indirect connections.
  • bus is used to refer to a plurality of signals or conductors which may be used to transfer signals or power.
  • assert or “set” and “negate” (or “dissert” or “clear”) are used herein when referring to the rendering of a signal, status bit, or similar apparatus into its logically true or logically false state, respectively. If the logically true state is a logic level one, the logically false state is a logic level zero. And if the logically true state is a logic level zero, the logically false state is a logic level one.
  • illustrated hardware elements may be circuitry located on a single integrated circuit or within a same device or may include a plurality of separate integrated circuits or separate devices interconnected with each other. Also, hardware elements in an embodiment of the invention may be replaced by software or code representations in an embodiment of the invention.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)
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US20130231891A1 (en) * 2012-03-02 2013-09-05 University Of Nebraska-Lincoln Drive Systems Including Sliding Mode Observers And Methods Of Controlling The Same
US10008966B2 (en) * 2012-03-02 2018-06-26 Deere & Company Drive systems including sliding mode observers and methods of controlling the same
US20140062353A1 (en) * 2012-08-29 2014-03-06 Toyota Jidosha Kabushiki Kaisha Rotor position estimating device, electric motor control system and rotor position estimating method
US9077275B2 (en) * 2012-08-29 2015-07-07 Toyota Jidosha Kabushiki Kaisha Rotor position estimating device, electric motor control system and rotor position estimating method
US9362845B2 (en) * 2013-12-23 2016-06-07 Generac Power Systems, Inc. Method of operating a single-phase generator in parallel with an inventor
US20150180367A1 (en) * 2013-12-23 2015-06-25 Generac Power Systems, Inc. Method Of Operating A Single-Phase Generator In Parallel With An Inverter
US10498268B2 (en) 2014-09-24 2019-12-03 Texas Instruments Incorporated Angular position estimation for PM motors
US9705437B2 (en) 2014-09-24 2017-07-11 Texas Instruments Incorporated Angular position estimation for PM motors
US9912275B2 (en) 2014-09-24 2018-03-06 Texas Instruments Incorporated Normalization of motor phase measurements
US9917542B2 (en) 2014-09-24 2018-03-13 Texas Instruments Incorporated Input vector set for position detection of PM motors
US9431945B2 (en) 2014-09-24 2016-08-30 Texas Instruments Incorporated Normalization of motor phase measurements
US10263555B2 (en) 2014-09-24 2019-04-16 Texas Instruments Incorporated Input vector set for position detection of PM motors
US9431947B2 (en) 2014-09-24 2016-08-30 Texas Instruments Incorporated Input vector set for position detection of PM motors
US10574165B2 (en) 2014-09-24 2020-02-25 Texas Instruments Incorporated Input vector set for position detection of PM motors
US11070155B2 (en) 2014-09-24 2021-07-20 Texas Instruments Incorporated Input vector set for position detection of PM motors
US11527978B2 (en) 2014-09-24 2022-12-13 Texas Instruments Incorporated Input vector set for position detection of PM motors
US9595903B2 (en) 2015-03-20 2017-03-14 General Electric Company Controller for motor
TWI549417B (zh) * 2015-12-23 2016-09-11 國立臺北科技大學 永磁交流馬達的轉子位置估測方法、永磁伺服馬達系統，以及電腦程式產品
US11196371B2 (en) 2020-01-10 2021-12-07 DRiV Automotive Inc. Sensorless position detection for electric motor

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